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US20150232026A1 - Method for Assisting a Driver at a Traffic Light for a Vehicle - Google Patents

Method for Assisting a Driver at a Traffic Light for a Vehicle Download PDF

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Publication number
US20150232026A1
US20150232026A1 US14/429,208 US201314429208A US2015232026A1 US 20150232026 A1 US20150232026 A1 US 20150232026A1 US 201314429208 A US201314429208 A US 201314429208A US 2015232026 A1 US2015232026 A1 US 2015232026A1
Authority
US
United States
Prior art keywords
traffic light
driver
vehicle
detecting
attention
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/429,208
Inventor
Stefan Lueke
Stefan Hegemann
Matthias Komar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic GmbH, Continental Teves AG and Co OHG filed Critical Conti Temic Microelectronic GmbH
Assigned to CONTINENTAL TEVES AG & CO. OHG, CONTI TEMIC MICROELECTRONIC GMBH reassignment CONTINENTAL TEVES AG & CO. OHG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HEGEMANN, STEFAN, KOMAR, MATTHIAS, LUEKE, STEFAN
Publication of US20150232026A1 publication Critical patent/US20150232026A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G06K9/00315—
    • G06K9/00798—
    • G06K9/00825—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/174—Facial expression recognition
    • G06V40/176—Dynamic expression
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the position and location of a traffic light can be detected, for example, with a surroundings detection sensor, in particular a camera sensor system, or can be transmitted via radio by the road sign directly or by other vehicles (c2c) to the ego vehicle.
  • a surroundings detection sensor in particular a camera sensor system
  • c2c other vehicles
  • One essential concept of the invention is to assist an inattentive driver in a traffic light situation, in particular to prevent unwanted starting at a traffic light.
  • the method is used in a driver assistance system which specifies means for detecting at least one traffic light and the color phase of the traffic light.
  • a camera sensor system or a radio receiver for receiving radio signals from other vehicles (c2c communication) or radio signals directly from road signs is provided for this purpose.
  • the driver assistance system comprises means for detecting the driver's state of attention.
  • the driver's state of attention can be detected, for example, with a camera system in the interior of the vehicle.
  • the camera system can also detect the driver's line of sight and can therefore, for example, establish whether or not the latter has the traffic light in his field of vision.
  • the driver assistance system also comprises a control unit. If an inattentive driver is detected, depending on the color phase of the traffic light, the control unit outputs a warning signal. Means are therefore provided for providing a visual, audible or haptic warning to the driver. Alternatively or in addition, an intervention is made in a longitudinal dynamics control process of the ego vehicle.
  • the surroundings of a vehicle are detected with means for detecting the surroundings.
  • Means for detecting the surroundings are e.g. radar, lidar, camera or navigation systems or radio communication systems with other road users (c2c) or a combination of at least two of the above.
  • the means for detecting traffic lights and the means for detecting the surroundings are preferably configured as a camera system.
  • the position or location of lanes and/or road signs with respect to the ego vehicle is detected with the means for detecting the surroundings. Based on this, the relevance of the traffic light to the ego vehicle is determined. For example, a distant traffic light, the range of validity of which has not yet been reached by the ego vehicle, is not relevant. In particular, in the case of those traffic lights (traffic lights for vehicles turning left or right) or road signs (green arrow for vehicles turning right) where their validity can depend on the lane, the determination of the relevance of the traffic light depending on the lane is also important.
  • the relevance of the traffic light is determined according to a probable route of the ego vehicle.
  • the probable route is, for example, detected by an activated direction indicator or a calculated route of a navigation device.
  • a traffic light position is assigned to a probable route.
  • a traffic light position is assigned, if there are multiple lanes with a direction indication (e.g. vehicles turning right, vehicles travelling straight on, vehicles turning left).
  • the presence of lanes with a direction indication can, for example, be detected by means of arrows marked on the roadway of a lane with a camera system or with a navigation system.
  • the assigned traffic light position can be above, to the left of or to the right of the lane.
  • a warning signal is output, if the driver was not looking in the direction of the assigned traffic light position before passing the traffic light.
  • a right turning lane is detected by means of arrows marked on the roadway of a lane with a camera system or with a navigation system.
  • a warning signal is output, if the driver was not looking to the right before passing the traffic light, where a traffic light for vehicles turning right or a road sign which applies to vehicles turning right is typically located, for example, a green arrow for vehicles turning right.
  • the exact position of the traffic light or road sign can also be detected with a surroundings detection sensor system (e.g. camera system) and then compared with the line of sight.
  • a surroundings detection sensor system e.g. camera system
  • the signal for intervening in the longitudinal dynamics control process is configured in such a way that a current acceleration of the ego vehicle is increased or attenuated or the ego vehicle is prevented from starting.
  • the vehicle If the driver wishes to move off, e.g. despite the traffic light being red, the vehicle is prevented from starting.
  • the vehicle is only started at a traffic light, in the event that the ego vehicle was prevented from starting, following clearance by the driver.
  • This clearance is provided, in particular, by detecting an operation of an accelerator pedal, wherein the deflection of the accelerator pedal and/or the operating speed must exceed a threshold value (e.g. kickdown).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Traffic Control Systems (AREA)
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Abstract

A method for controlling the starting of a vehicle at a traffic light by a driver assistance system is disclosed. The vehicle starts driving according to whether or not at least one traffic light is present, according to the color phase of the traffic light, and according to the driver's state of attention. A warning signal or a signal for intervening in an acceleration control process of an ego vehicle is output.

Description

  • Systems for detecting traffic lights for vehicles are known.
  • The position and location of a traffic light can be detected, for example, with a surroundings detection sensor, in particular a camera sensor system, or can be transmitted via radio by the road sign directly or by other vehicles (c2c) to the ego vehicle.
  • Furthermore, systems for detecting the driver's state of attention with a camera sensor system in the interior of a vehicle are known from the prior art.
  • It is the object of this invention to disclose a method for assisting a driver at a traffic light.
  • This object is achieved with the features of the independent claims.
  • One essential concept of the invention is to assist an inattentive driver in a traffic light situation, in particular to prevent unwanted starting at a traffic light.
  • The method is used in a driver assistance system which specifies means for detecting at least one traffic light and the color phase of the traffic light. In particular, a camera sensor system or a radio receiver for receiving radio signals from other vehicles (c2c communication) or radio signals directly from road signs is provided for this purpose. In addition, the driver assistance system comprises means for detecting the driver's state of attention. The driver's state of attention can be detected, for example, with a camera system in the interior of the vehicle. The camera system can also detect the driver's line of sight and can therefore, for example, establish whether or not the latter has the traffic light in his field of vision. In addition, conclusions can be made about the driver's state of attention by means of hands-off detection or by monitoring the driver's activities on the multimedia systems provided in the vehicle (e.g. surfing the internet). The driver assistance system also comprises a control unit. If an inattentive driver is detected, depending on the color phase of the traffic light, the control unit outputs a warning signal. Means are therefore provided for providing a visual, audible or haptic warning to the driver. Alternatively or in addition, an intervention is made in a longitudinal dynamics control process of the ego vehicle.
  • In a preferred embodiment of the invention the surroundings of a vehicle are detected with means for detecting the surroundings. Means for detecting the surroundings are e.g. radar, lidar, camera or navigation systems or radio communication systems with other road users (c2c) or a combination of at least two of the above. The means for detecting traffic lights and the means for detecting the surroundings are preferably configured as a camera system. The position or location of lanes and/or road signs with respect to the ego vehicle is detected with the means for detecting the surroundings. Based on this, the relevance of the traffic light to the ego vehicle is determined. For example, a distant traffic light, the range of validity of which has not yet been reached by the ego vehicle, is not relevant. In particular, in the case of those traffic lights (traffic lights for vehicles turning left or right) or road signs (green arrow for vehicles turning right) where their validity can depend on the lane, the determination of the relevance of the traffic light depending on the lane is also important.
  • In a positive embodiment of the invention the relevance of the traffic light is determined according to a probable route of the ego vehicle. The probable route is, for example, detected by an activated direction indicator or a calculated route of a navigation device.
  • This approach is advantageous in the case of traffic lights for vehicles turning left or right or road signs which only apply to a certain direction of travel (green arrow for vehicles turning right).
  • In a positive embodiment of the invention a traffic light position is assigned to a probable route. In particular, a traffic light position is assigned, if there are multiple lanes with a direction indication (e.g. vehicles turning right, vehicles travelling straight on, vehicles turning left). The presence of lanes with a direction indication can, for example, be detected by means of arrows marked on the roadway of a lane with a camera system or with a navigation system. The assigned traffic light position can be above, to the left of or to the right of the lane. A warning signal is output, if the driver was not looking in the direction of the assigned traffic light position before passing the traffic light.
  • In a preferred embodiment of the invention a right turning lane is detected by means of arrows marked on the roadway of a lane with a camera system or with a navigation system. On driving into this right turning lane a warning signal is output, if the driver was not looking to the right before passing the traffic light, where a traffic light for vehicles turning right or a road sign which applies to vehicles turning right is typically located, for example, a green arrow for vehicles turning right.
  • The exact position of the traffic light or road sign can also be detected with a surroundings detection sensor system (e.g. camera system) and then compared with the line of sight.
  • In a preferred embodiment of the invention the signal for intervening in the longitudinal dynamics control process is configured in such a way that a current acceleration of the ego vehicle is increased or attenuated or the ego vehicle is prevented from starting.
  • If the driver wishes to move off, e.g. despite the traffic light being red, the vehicle is prevented from starting.
  • In a preferred embodiment of the invention the vehicle is only started at a traffic light, in the event that the ego vehicle was prevented from starting, following clearance by the driver. This clearance is provided, in particular, by detecting an operation of an accelerator pedal, wherein the deflection of the accelerator pedal and/or the operating speed must exceed a threshold value (e.g. kickdown).

Claims (13)

1. A method for controlling the starting of a vehicle at a traffic light by a driver assistance system, which comprises
means for detecting at least one traffic light and the color phase of the traffic light, in particular a camera sensor system, and
means for detecting the driver's state of attention and
an evaluation or control unit connected to the means, wherein, in the event of an inattentive driver, the evaluation or control unit outputs a warning signal or a signal for intervening in a longitudinal control process of an ego vehicle according to whether or not at least one traffic light is present and according to the color phase of the traffic light.
2. The method according to claim 1, characterized in that the driver's state of attention is determined based on the driver's line of sight, preferably based on the data from a camera system in the interior of the ego vehicle.
3. The method according to claim 1, characterized in that surrounding objects are detected with means for detecting the surroundings and the position or location of lanes and/or road signs with respect to the ego vehicle are established and the relevance of the traffic light to the ego vehicle is determined.
4. The method according to claim 3, characterized in that the relevance of the traffic light is established according to a probable route of the ego vehicle.
5. The method according to claim 4, characterized in that the probable route is detected based on an activated direction indicator or a calculated route of a navigation device or a camera sensor system for detecting arrows marked on the roadway of a lane.
6. The method according to claim 2, characterized in that a traffic light position above, to the left of or to the right of the lane is assigned to a probable route of the vehicle and a warning signal is output, if the driver was not looking at the assigned traffic light position before passing the traffic light.
7. The method according to claim 2, characterized in that a right turning lane is detected from arrows marked on the roadway of a lane with a camera system or with a navigation system and on driving into this right turning lane a warning signal is output, if the driver was not looking to the right before passing the traffic light.
8. The method according to claim 1, characterized in that the signal for intervening in a longitudinal control process is configured in such a way that a current acceleration of the ego vehicle is increased or attenuated.
9. The method according to claim 1, characterized in that the signal for intervening in a longitudinal control process is configured in such a way that the ego vehicle is prevented from starting.
10. The method according to claim 9, characterized in that the ego vehicle starts driving following clearance from a driver, wherein the clearance is detected in particular by detecting the operation of an accelerator pedal above a threshold.
11. A driver assistance system for performing the method according to claim 1, comprising
means for detecting at least one traffic light and the color phase of the traffic light,
means for detecting the driver's state of attention, and
an evaluation or control unit connected to the means and having an electronic memory, in which a program configured and adapted to perform the method is stored.
12. A method of controlling the starting of a subject vehicle at a traffic light by a driver assistance system of the subject vehicle, which method comprises
with a camera of the driver assistance system, detecting a traffic light and a color phase of the traffic light,
with a sensor of the driver assistance system, detecting a state of attention of a driver of the vehicle, and
with an evaluation or control unit of the driver assistance system, evaluating outputs from the camera and the sensor, and when the state of attention of the driver indicates that the driver is inattentive and the traffic light has been detected, then dependent on the color phase of the traffic light outputting at least one of a warning signal to warn the driver and a control signal to affect a longitudinal control of the subject vehicle.
13. A driver assistance system for a vehicle, comprising:
a camera system configured and arranged to detect a traffic light and a color phase of the traffic light in an environment around the vehicle;
a sensor configured and arranged to detect a driver's state of attention of a driver of the vehicle; and
an evaluation or control unit that is connected to outputs of the camera system and the sensor, and that includes a memory in which is stored a program, which when executed, triggers at least one of a warning signal to warn the driver and a control signal to control longitudinal motion of the vehicle, depending on the detection of the traffic light, the color phase of the traffic light, and the driver's state of attention.
US14/429,208 2012-10-01 2013-09-27 Method for Assisting a Driver at a Traffic Light for a Vehicle Abandoned US20150232026A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012109297 2012-10-01
DE102012109297.4 2012-10-01
PCT/DE2013/200193 WO2014053134A1 (en) 2012-10-01 2013-09-27 Method for assisting a driver at a traffic light for a vehicle

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US20150232026A1 true US20150232026A1 (en) 2015-08-20

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US14/429,208 Abandoned US20150232026A1 (en) 2012-10-01 2013-09-27 Method for Assisting a Driver at a Traffic Light for a Vehicle

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US12479458B2 (en) 2020-10-12 2025-11-25 Bayerische Motoren Werke Aktiengesellschaft Vehicle control system and method for outputting information related to a signaling unit
US12491904B2 (en) 2020-10-12 2025-12-09 Bayerische Motoren Werke Aktiengesellschaft Vehicle guidance system and method for operating a driving function in different modes
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US12528470B2 (en) 2020-10-12 2026-01-20 Bayerische Motoren Werke Aktiengesellschaft Vehicle guidance system and method for operating a driving function following a driving-off process
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US12545279B2 (en) 2020-10-12 2026-02-10 Bayerische Motoren Werke Aktiengesellschaft Vehicle guidance system and method for operating a driving function in the presence of a contradiction with map data
WO2023247355A1 (en) * 2022-06-23 2023-12-28 Bayerische Motoren Werke Aktiengesellschaft Method and device for the automated driving off of a vehicle at a signalling unit
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